Method and apparatus for assisting spasticity and clonus evaluation using inertial sensor

ABSTRACT

Provided is a method and apparatus for assisting spasticity and clonus evaluation using an inertia sensor, the apparatus including an acquirer configured to acquire a measured value from an inertia sensor attached to an object, a calculator configured to calculate an angle of a joint of the object based on the measured value, and a processor configured to evaluate a spasticity and a clonus based on the angle of the joint.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims the priority benefit of Korean PatentApplication No. 10-2015-0116796 filed on Aug. 19, 2015, in the KoreanIntellectual Property Office, the disclosure of which is incorporatedherein by reference for all purposes.

BACKGROUND

1. Field

One or more example embodiments relate to a method and apparatus forassisting spasticity evaluation using an inertia sensor attached to anobject by calculating an angle of a joint of the object based on anacquired measured value, measuring the angle of the object, providing avisual biofeedback on a movement of the joint in real time, andassisting reliable spasticity evaluation on the joint.

2. Description of Related Art

An upper motor neuron syndrome may be an abnormality in mobility controlthat occurs due to an injury of a central nervous system including abrain and a spinal cord. A spasticity and a clonus may be a symptom ofthe upper motor neuron syndrome. The spasticity and the clonus mayresult from an abnormal overexcitability and adversely affect avoluntary movement.

The spasticity may occur when a joint is passively stretched by a rater.In this instance, the stretch reflex may be overexcited based on amoving velocity of the joint, which may increase a muscular tension. Asa degree of spasticity increases, susceptibility for the velocity andthe muscular tension may also increase.

Also, the clonus may occur due to the overexcitability in the stretchreflex and accompany a continuous tremor.

Various spasticity evaluations have been performed based on suchcharacteristics of spasticity. The spasticity evaluations may include,for example, a modified Tardieu scale (MTS) and a modified Ashworthscale (MAS). The MTS may be applied to a spasticity evaluation in ahospital. In the MTS, the spasticity and the clonus may be evaluatedbased on a characteristic that a muscular tension rapidly increasesdependently on the velocity.

However, the velocity and the measured value may vary based on asubjective sense of a user during the measurement and thus, thespasticity and clonus evaluation performed based on the varying measuredvalue may have insufficient consistency, reliability, and objectivity.

Accordingly, there is desire for technology for reliably evaluating aspasticity and a clonus.

SUMMARY

An aspect provides a method and apparatus to calculate an angle of ajoint of an object based on a measured value, for example, anacceleration and an angular velocity using an inertia sensor attached tothe object and evaluate a spasticity and a clonus of the joint may beevaluated based on the angle of the joint to accurately acquire theangle of the joint based on objective numerical values, therebyachieving a high reliability of a spasticity evaluation based on theangle of the joint.

Another aspect also provides a method and apparatus to acquire anacceleration from an acceleration meter included in the inertia sensorand the angular velocity from an angular velocity meter included in theinertia sensor, calculate the angle of the joint based on theacceleration in response to a determination that an object is in aquasi-static state when a variation in each of the acceleration and theangular velocity is less than a first set value, for example, whenlittle variation is present, and calculate the angle of the joint basedon the angular velocity in response to a determination that the objectis in a dynamic state when the variation in each of the acceleration andthe angular velocity is greater than or equal to a second set value, forexample, the variation is relatively large such that the angle of thejoint is accurately acquired based on objective numerical valuesacquired from the inertia sensor irrespective of a state of the object.

Still another aspect also provides a method and apparatus to provide avisual biofeedback on a velocity using an angular velocity of an inertiasensor in real time by displaying the velocity on a screen and allow avelocity adjustment while an angle of a joint of an object is measuredso as to support objective velocity adjustment independently of asubjective sense and an experience of a user.

According to an aspect, there is provided an apparatus for assistingspasticity evaluation using an inertia sensor, the apparatus includingan acquirer configured to acquire a measured value from an inertiasensor attached to an object, a calculator configured to calculate anangle of a joint of the object based on the measured value, wherein thecalculator is configured to calculate a gradient relative to a groundbased on a magnitude of an acceleration with respect to a gravitationalacceleration as the angle of the joint when the acquired measured valueis the acceleration, and, the calculator is configured to calculate theangle of the joint by integrating an angular velocity when the acquiredmeasured value is the angular velocity, and a processor configured toevaluate a spasticity and a clonus of the joint based on the angle ofthe joint.

According to another aspect, there is also provided a method ofassisting spasticity evaluation using an inertia sensor, the methodincluding acquiring a measured value from an inertia sensor attached toan object, calculating an angle of a joint of the object based on themeasured value, the calculating including calculating a gradientrelative to a ground based on a magnitude of an acceleration withrespect to a gravitational acceleration as the angle of the joint whenthe acquired measured value is the acceleration and calculating theangle of the joint by integrating an angular velocity when the acquiredmeasured value is the angular velocity, and evaluating a spasticity anda clonus of the joint based on the angle of the joint.

Additional aspects of example embodiments will be set forth in part inthe description which follows and, in part, will be apparent from thedescription, or may be learned by practice of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects, features, and advantages of the inventionwill become apparent and more readily appreciated from the followingdescription of example embodiments, taken in conjunction with theaccompanying drawings of which:

FIG. 1 is a block diagram illustrating an overall system including anapparatus for assisting spasticity evaluation using an inertial sensoraccording to an example embodiment;

FIG. 2 is a block diagram illustrating an apparatus for assistingspasticity evaluation using an inertial sensor according to an exampleembodiment;

FIG. 3 is a diagram illustrating an example of an image provided as avisual biofeedback on a joint angular velocity according to an exampleembodiment;

FIG. 4 is a diagram illustrating an example of an inertia sensorproviding a measured value to an apparatus for assisting spasticityevaluation using the inertia sensor according to an example embodiment;

FIG. 5 is a diagram illustrating an example of spasticity evaluationperformed in an apparatus for assisting spasticity evaluation using aninertia sensor according to an example embodiment; and

FIG. 6 is a flowchart illustrating a method of assisting spasticityevaluation using an inertia sensor according to an example embodiment.

DETAILED DESCRIPTION

Hereinafter, some example embodiments will be described in detail withreference to the accompanying drawings. Regarding the reference numeralsassigned to the elements in the drawings, it should be noted that thesame elements will be designated by the same reference numerals,wherever possible, even though they are shown in different drawings.Also, in the description of embodiments, detailed description ofwell-known related structures or functions will be omitted when it isdeemed that such description will cause ambiguous interpretation of thepresent disclosure.

In the present disclosure, there is a method and apparatus for assistingspasticity and clonus evaluation using an inertia sensor. In thisdisclosure, the inertia sensor may be used to perform the spasticity andclonus evaluation not limited to a modified Tardieu scale (MTS) butbased on characteristics of a spasticity and a clonus with increasedreliability and objectivity when compared to a typical spasticity andclonus evaluation. The method may be applicable to a measurement of theclonus as well as the spasticity.

FIG. 1 is a block diagram illustrating an overall system including anapparatus for assisting spasticity evaluation using an inertial sensoraccording to an example embodiment. Hereinafter, the apparatus forassisting spasticity evaluation using an inertia sensor may also bereferred to as, for example, a spasticity evaluation assistingapparatus.

Referring to FIG. 1, an overall system 100 may include an inertia sensor101 and an apparatus 103 for assisting spasticity evaluation using theinertia sensor 101.

The inertia sensor 101 may be an inertial measurement unit (IMU) andattached to an object, for example, a human body. The inertia sensor 101may measure a measured value based on a movement of the object. Here,the inertia sensor 101 may include, for example, at least one of anacceleration meter, for example, an accelerometer and an angularvelocity meter, for example, a gyroscope.

The apparatus 103 may calculate an angle of a joint of the object basedon the measured value acquired from the inertia sensor 101, and evaluatea spasticity and a clonus of the joint based on the angle of the joint.

In this example, the apparatus 103 may use an accurate angle of thejoint acquired based on objective numerical values to evaluate thespasticity and the clonus of the joint so as to increase reliability onthe spasticity evaluation.

Also, the apparatus 103 may provide an evaluation result of thespasticity and the clonus such that a severity of brain injury isaccurately acquired.

The apparatus 103 may be an apparatus for assisting evaluation withincreased reliability and objectivity using the inertia sensor whencompared to a typical evaluation in lieu of an apparatus for directlyacquiring an evaluation result from a spasticity evaluation.

FIG. 2 is a block diagram illustrating an apparatus for assistingspasticity evaluation using an inertial sensor according to an exampleembodiment.

Referring to FIG. 2, an apparatus 200 for assisting spasticityevaluation using an inertia sensor may include an acquirer 201, adeterminer 203, a calculator 205, and a processor 207.

The acquirer 201 may acquire a measured value from an inertia sensorattached to an object, for example, a human body. Here, the inertiasensor may include an acceleration meter and an angular velocity meterto measure an acceleration and an angular velocity based on a movementof the object as the measured value. In this example, a plurality ofinertia sensors may be attached to predetermined portions spaced apartrelative to a joint of the object to sense the movement of the object.

For example, the acquirer 201 may acquire the acceleration from theacceleration meter included in the inertia sensor and acquire theangular meter included in the inertia sensor.

Also, the acquirer 201 may acquire the acceleration from theacceleration meter included in the inertia sensor when the object is ina quasi-static state and acquire the angular velocity from the angularvelocity meter included in the inertia sensor when the object is in adynamic state.

When the plurality of inertia sensors is attached to the object, theacquirer 201 may control the acceleration meter or the angular velocitymeter included in each of the plurality of inertia sensors to acquirethe measured value from the plurality of inertia sensors. For example,the acquirer 201 may activate acceleration meters included in theplurality of inertia sensors and acquire the acceleration forcalculating a stop angle of the joint from at least a portion of theactivated acceleration meters. Also, the acquirer 201 may activateangular velocity meters included in the plurality of inertia sensors andacquire the angular velocity for calculating a moving angle of the jointfrom at least a portion of the activated angular velocity meters.

The determiner 203 may determine that the object is in the quasi-staticstate when all movements sensed in the plurality of inertia sensors areless than a set value. Also, the determiner 203 may determine that theobject is in the dynamic state when a movement sensed in one of theplurality of inertia sensors is greater than or equal to the set value.In this example, when a variation in each of the acceleration and theangular velocity is less than a first set value, for example, whenlittle variation is present, the determiner 203 may determine that theobject is in the quasi-static state. Also, when the variation in each ofthe acceleration and the angular velocity is greater than or equal to asecond set value, for example, when a relatively great variation ispresent, the determiner 203 may determine that the object is in thedynamic state.

The calculator 205 may calculate the angle of the joint of the objectbased on the measured value acquired from the inertial sensor of theacquirer 201 so as to accurately acquire the angle of the joint based onobjective numerical values. In this example, in response to adetermination that the object is in the quasi-static state, thecalculator 205 may calculate the angle of the joint of the object basedon the acceleration acquired from the acceleration meter in the inertiasensor. Also, in response to a determination that the object is in thedynamic state, the calculator 205 may calculate the angle of the jointof the object based on the angular velocity acquired from the angularvelocity meter in the inertia sensor.

When the acquired measured value is the acceleration, the calculator 205may calculate a gradient relative to a ground based on a magnitude ofthe acceleration with respect to a gravitational acceleration. When theacquired measured value is the angular velocity, the calculator 205 maycalculate the angle of the joint by integrating the angular velocity.

The processor 207 may evaluate a spasticity and a clonus of the jointbased on the angle of the joint. The processor 207 may evaluate thespasticity and the clonus by obtaining at least one of a sum of stopangles, for example, at least one angle, of the joint calculated whenthe object is in the quasi-static state and a sum of moving angles, forexample, a plurality of moving angles acquired at a preset interval, ofthe joint calculated when the object is in the dynamic state.

In the evaluation of the spasticity and the clonus, the processor 207may not directly evaluate the spasticity and the clonus. Instead, theprocessor 207 may complement a subjective portion using the inertiasensor to support a user to objectively perform measurement and increasereliability.

Also, the processor 207 may provide a real-time visual biofeedback onthe angular velocity of the joint using the inertia sensor. To this end,the plurality of inertia sensors may be attached to the predeterminedportions spaced apart relative to the joint. The acquirer 201 mayacquire the angular velocity from the angular velocity meter included ineach of the plurality of inertia sensors.

The processor 207 may provide the real-time visual biofeedback bydisplaying a joint angular velocity obtained by calculating a sum of theacquired angular velocities on a screen.

FIG. 3 is a diagram illustrating an example of an image provided as avisual biofeedback on a joint angular velocity according to an exampleembodiment.

Referring to FIG. 3, the processor 207 may provide an object visualbiofeedback by displaying a comparison between a quasi-static state ofan object and a state of a success in reaching a joint angular velocityacquired through evaluation, for example, a success in reaching a targetvelocity on a screen. By providing a real-time visual biofeedback on anangular velocity of a joint using an inertia sensor, the processor 207may increase reliability on evaluation of a user.

In this example, the angular velocity may be acquired in real time fromthe angular velocity meter of the inertia sensor attached to the jointand a joint angular velocity obtained by summating angular velocities ofjoints may be displayed on a screen. Thereafter, a velocity adjustmentmay be performed.

The processor 207 may use an accurate angle of the joint acquired basedon objective numerical values to evaluate a spasticity and a clonus ofthe joint so as to increase reliability on the spasticity evaluation.

The processor 207 may provide an evaluation result of the spasticity andthe clonus such that a severity of brain injury is accurately acquired.

The processor 207 may provide medical care information based on theevaluation result of the spasticity and the clonus. For example, theprocessor 207 may provide information on, for example, medication withBaclofen and Botulinum toxin injection based on an evaluation result ofthe spasticity and the clonus.

The apparatus 200 may acquire the angular velocity from the angularvelocity meter of the inertia sensor in real time and display a movingvelocity to be measured on a screen. Also, the apparatus 200 may providea visual biofeedback on the measured velocity such that the movingvelocity of the joint is to be adjusted. Through this, the movingvelocity may be objectively adjusted and measured in a spasticityevaluation having a velocity-dependent characteristic.

FIG. 4 is a diagram illustrating an example of an inertia sensorproviding a measured value to an apparatus for assisting spasticityevaluation using the inertia sensor according to an example embodiment.

Referring to FIG. 4, an inertia sensor 401 may be attached to an objectusing a band to measure a measured value based on a movement of theobject. Here, the inertia sensor 401 may include, for example, at leastone of an acceleration meter and an angular velocity meter.

The inertia sensor 401 may measure an acceleration as the measured valueusing an acceleration meter included in the inertia sensor 401. Theinertia sensor 401 may measure an angular velocity as the measured valueusing an angular velocity meter included in the inertia sensor 401.

The inertia sensor 401 may also include a wireless communicator, forexample, Bluetooth. Through the wireless communicator, the inertiasensor 401 may transmit the measured value to an apparatus for assistingspasticity evaluation using an inertia sensor.

FIG. 5 is a diagram illustrating an example of spasticity evaluationperformed in an apparatus for assisting spasticity evaluation using aninertia sensor according to an example embodiment.

Referring to FIG. 5, a plurality of inertia sensors may be attached topredetermined portions spaced apart relative to a joint of an object tosense a movement of the object. For example, a first inertia sensor 501and a second inertia sensor 503 may be respectively attached to a thighpart and a shank part spaced apart from each other relative to a kneejoint.

The spasticity evaluation assisting apparatus may determine that theobject is in a quasi-static state when all movements sensed by the firstinertia sensor 501 and the second inertia sensor 503 are less than a setvalue. The spasticity evaluation assisting apparatus may determine thatthe object is in a dynamic state when a movement sensed by one of thefirst inertia sensor 501 and the second inertia sensor 503 is greaterthan or equal to a set value.

In response to a determination that the object is in the quasi-staticstate, the spasticity evaluation assisting apparatus may activateacceleration meters included in the first inertia sensor 501 and thesecond inertia sensor 503, and acquire accelerations for calculating astop angle of the knee joint from at least a portion of the activatedacceleration meters. For example, the spasticity evaluation assistingapparatus may acquire a first acceleration measured by the first inertiasensor 501 at the thigh part and a second acceleration measured by thesecond inertia sensor 503 at the shaft part. Also, in response to adetermination that the object is in the dynamic state, the spasticityevaluation assisting apparatus may activate angular velocity metersincluded in the first inertia sensor 501 and the second inertia sensor503, and acquire angular velocities for calculating a moving angle ofthe knee joint from at least a portion of the activated angular velocitymeters. For example, the spasticity evaluation assisting apparatus mayacquire a first angular velocity measured by the first inertia sensor501 at the thigh part and a second angular velocity measured by thesecond inertia sensor 503 at the shaft part.

When the first acceleration and the second acceleration are acquired,the spasticity evaluation assisting apparatus may calculate an angle ofthe knee joint using a total acceleration obtained by adding the firstacceleration to the second acceleration. For example, the spasticityevaluation assisting apparatus may calculate a gradient relative to aground based on a magnitude of the total acceleration with respect to agravitational acceleration as the angle of the knee joint.

Also, when the first angular velocity and the second angular velocityare acquired, the spasticity evaluation assisting apparatus maycalculate the angle of the knee joint using a total angular velocityobtained by adding the first angular velocity to the second angularvelocity. For example, the spasticity evaluation assisting apparatus maycalculate the angle of the knee joint by integrating the total angularvelocity.

FIG. 6 is a flowchart illustrating a method of assisting spasticityevaluation using an inertia sensor according to an example embodiment.

Referring to FIG. 6, in operation 601, a spasticity evaluation assistingapparatus may acquire a measured value from an inertia sensor attachedto an object.

The spasticity evaluation assisting apparatus may acquire anacceleration from an acceleration meter included in the inertia sensorand acquire an angular velocity from an angular velocity meter includedin the inertia sensor.

When the object is in a quasi-static state, the spasticity evaluationassisting apparatus may acquire the acceleration from the accelerationmeter included in the inertia sensor. When the object is in a dynamicstate, the spasticity evaluation assisting apparatus may acquire theangular velocity from the angular velocity meter included in the inertiasensor.

A plurality of inertia sensors may be respectively attached topredetermined portions spaced apart relative to the joint of the objectto sense a movement of the object.

When the plurality of inertia sensors is attached to the object, thespasticity evaluation assisting apparatus may control accelerationmeters or angular velocity meters included in the plurality of inertiasensors to acquire measured values from the plurality of inertiasensors. Specifically, the spasticity evaluation assisting apparatus mayactivate the acceleration meters included in the plurality of inertiasensors and acquire accelerations for calculating a stop angle of thejoint from at least a portion of the activated acceleration meters.Also, the spasticity evaluation assisting apparatus may activate theangular velocity meters included in the plurality of inertia sensors andacquire angular velocities for calculating a moving angle of the jointfrom at least a portion of the activated angular velocity meters.

In this example, the spasticity evaluation assisting apparatus maydetermine that the object is in a quasi-static state when all movementssensed by the plurality of inertia sensors are less than a set value,and determine that the object is in the dynamic state when a movementsensed by one of the plurality of inertia sensors is greater than orequal to the set value. Here, the spasticity evaluation assistingapparatus may determine that the object is in the quasi-static statewhen a variation in each of the acceleration and the angular velocity isless than a first set value, for example, when little variation ispresent. Also, the spasticity evaluation assisting apparatus maydetermine that the object is in the dynamic state when the variation ineach of the acceleration and the angular velocity is greater than orequal to a first set value, for example, when the variation isrelatively large.

In operation 603, the spasticity evaluation assisting apparatus maycalculate an angle of a joint of the object using the measured valueacquired from the inertia sensor.

In this example, in response to a determination that the object is inthe quasi-static state, the spasticity evaluation assisting apparatusmay calculate the angle of the joint of the object based on theacceleration acquired by the acceleration meter included in the inertiasensor. In response to a determination that the object is in the dynamicstate, the spasticity evaluation assisting apparatus may calculate theangle of the joint of the object based on the angular velocity acquiredfrom the angular velocity meter included in the inertia sensor.

Also, when the acquired measured value is the acceleration, thespasticity evaluation assisting apparatus may calculate a gradientrelative to a ground based on a magnitude of the acceleration withrespect to a gravitational acceleration as the angle of the joint. Whenthe acquired measured value is the angular velocity, the spasticityevaluation assisting apparatus may calculate the angle of the joint byintegrating the angular velocity.

In operation 605, the spasticity evaluation assisting apparatus mayevaluate a spasticity and a clonus of the joint based on the angle ofthe joint.

For example, the spasticity evaluation assisting apparatus may evaluatethe spasticity and the clonus by obtaining at least one of a sum of stopangles calculated when the object is in the quasi-static state and a sumof moving angles calculated when the object is in the dynamic state.

The spasticity evaluation assisting apparatus may provide medical careinformation, for example, information on medication with Baclofen andBotulinum toxin injection based on an evaluation result of thespasticity and the clonus.

Also, the spasticity evaluation assisting apparatus may provide areal-time visual biofeedback by displaying a joint angular velocityobtained by summating the acquired angular velocities on a screen.

According to an aspect of the present embodiments, an angle of a jointof an object may be calculated based on a measured value, for example,an acceleration and an angular velocity using an inertia sensor attachedto the object, and a spasticity and a clonus of the joint may beevaluated based on the angle of the joint. Through this, the angle ofthe joint may be accurately acquired based on objective numerical valuesand thus, a relatively high reliability may be achieved in a spasticityevaluation based on the angle of the joint.

Also, the acceleration may be acquired by an acceleration meter includedin the inertia sensor and the angular velocity may be acquired by anangular velocity meter included in the inertia sensor. When a variationin each of the acceleration and the angular velocity is less than afirst set value, for example, when little variation is present, theobject may be determined to be in a quasi-static state, and the angle ofthe joint may be calculated based on the acceleration acquired by theacceleration meter. When the variation in each of the acceleration andthe angular velocity is greater than or equal to a second set value, forexample, the variation is relatively large, the object may be determinedto be in a dynamic state, and the angle of the joint may be calculatedbased on the angular velocity acquired by the angular velocity meter.Thus, the angle of the joint may be accurately acquired based onobjective numerical values acquired from the inertia sensor irrespectiveof a state of the object.

According to an aspect, it is possible to calculate an angle of a jointof an object based on a measured value, for example, an acceleration andan angular velocity using an inertia sensor attached to the object andevaluate a spasticity and a clonus of the joint based on the angle ofthe joint, thereby acquiring the angle of the joint accurately based onobjective numerical values.

According to another aspect, it is possible to provide a visualbiofeedback on an angular velocity of a joint based on a movement of thejoint in real time, thereby achieving a relatively high reliability in aspasticity evaluation based on the angle of the joint. For example, theangular velocity may be verified based on the movement of the joint inreal time using an angular velocity meter of an inertia sensor. Throughthis, objective data on a velocity may be provided, which may enhancereliability on the evaluation.

According to still another aspect, it is possible to calculate an angleof a joint of an object based on an acceleration acquired by anacceleration meter included in an inertia sensor when the object is in aquasi-static state and based on angular velocity acquired by an angularvelocity meter included in the inertia sensor when the object is in adynamic state, thereby acquiring the angle of the joint accurately basedon objective numerical values acquired from the inertia sensorirrespective of a state of the object.

The methods according to the above-described example embodiments may berecorded in non-transitory computer-readable media including programinstructions to implement various operations of the above-describedexample embodiments. The media may also include, alone or in combinationwith the program instructions, data files, data structures, and thelike. The program instructions recorded on the media may be thosespecially designed and constructed for the purposes of exampleembodiments, or they may be of the kind well-known and available tothose having skill in the computer software arts. Examples ofnon-transitory computer-readable media include magnetic media such ashard disks, floppy disks, and magnetic tape; optical media such asCD-ROM discs, DVDs, and/or Blue-ray discs; magneto-optical media such asoptical discs; and hardware devices that are specially configured tostore and perform program instructions, such as read-only memory (ROM),random access memory (RAM), flash memory (e.g., USB flash drives, memorycards, memory sticks, etc.), and the like. Examples of programinstructions include both machine code, such as produced by a compiler,and files containing higher level code that may be executed by thecomputer using an interpreter. The above-described devices may beconfigured to act as one or more software modules in order to performthe operations of the above-described example embodiments, or viceversa.

A number of example embodiments have been described above. Nevertheless,it should be understood that various modifications may be made to theseexample embodiments. For example, suitable results may be achieved ifthe described techniques are performed in a different order and/or ifcomponents in a described system, architecture, device, or circuit arecombined in a different manner and/or replaced or supplemented by othercomponents or their equivalents. Accordingly, other implementations arewithin the scope of the following claims.

What is claimed is:
 1. An apparatus for assisting spasticity evaluationusing a plurality of inertia sensors attached to an object and spacedapart relative to a joint of the object, each inertia sensor includingan accelerometer and a gyroscope, the object having a quasi-static statewhen all movements sensed in the plurality of inertia sensors are lessthan a set value, and the object having a dynamic state when a movementsensed by one of the plurality of inertia sensors is greater than orequal to the set value, the apparatus comprising: an acquirer configuredto, during a quasi-static state of an object, acquire accelerations fromaccelerometers included in a plurality of inertia sensors, andconfigured to, during a dynamic state of the object, acquire angularvelocities from the gyroscopes; a calculator configured to calculate agradient relative to a ground based on a magnitude of a sum of theaccelerations with respect to a gravitational acceleration as an angleof the joint of the object in the quasi-static state, and calculate theangle of the joint of the object in the dynamic state by integrating theangular velocities; and a processor configured to, evaluate a spasticityand a clonus of the joint based on the angle of the joint of the objectin the quasi-static state and the angle of the joint of the object inthe dynamic state, and provide a visual biofeedback in real time bydisplaying a joint angular velocity obtained by summing the acquiredangular velocities to allow a velocity adjustment while the angle of thejoint of the object is measured.
 2. The apparatus of claim 1, furthercomprising: a determiner configured to determine when the object is inthe quasi-static state and when the object is in the dynamic state. 3.The apparatus of claim 2, wherein the acquirer is configured to activatethe accelerometers included in the plurality of inertia sensors inresponse to the object being in the quasi-static state, and the acquireris configured to activate gyroscopes included in the plurality ofinertia sensors in response to the object being in the dynamic state. 4.The apparatus of claim 1, wherein the processor is configured toevaluate the spasticity and the clonus by obtaining at least one of asum of stop angles of the joint calculated when the object is in thequasi-static state and a sum of moving angles of the joint calculatedwhen the object is in the dynamic state.
 5. The apparatus of claim 1,wherein the processor is configured to provide medical care informationbased on an evaluation result of the spasticity and the clonus.
 6. Anapparatus for assisting spasticity evaluation, the apparatus comprising:a plurality of inertia sensors attached to an object to be spaced apartrelative to a joint of the object, each of the plurality of inertiasensors including an accelerometer to measure an acceleration and agyroscope to measure an angular velocity based on a movement of theobject, the object having a quasi-static state when all movements sensedin the plurality of inertia sensors are less than a set movement value,and the object having a dynamic state when a movement sensed by one ofthe plurality of inertia sensors is greater than or equal to the setmovement value; and a processor configured to calculate, a jointvelocity by summing angular velocities obtained from gyroscopes includedin the plurality of inertia sensors with the object in the dynamicstate, and a joint angle of the object in the quasi-static state basedon accelerations measured by accelerometers included in the plurality ofinertia sensors, and the joint angle of the object in the dynamic statebased on the angular velocities measured by the gyroscopes, theprocessor further configured to display, on a screen, evaluationinformation of a spasticity and a clonus of the joint based on the angleof the joint of the object in the quasi-static state and the angle ofthe joint of the object in the dynamic state, and display the calculatedjoint velocity as real time visual biofeedback to allow a velocityadjustment while the angle of the joint of the object is measured,wherein the processor is configured to calculate the angle of the jointof the object in the quasi-static state based on a gradient relative toa ground based on a magnitude of a sum of the accelerations measured bythe plurality of inertia sensors with respect to a gravitationalacceleration and display a calculation result on the screen, andconfigured, to calculate the angle of the joint of the object in thedynamic state by integrating the angular velocities measured by theplurality of inertia sensors and display an integration result on thescreen.
 7. The apparatus of claim 6, wherein when the joint velocityreaches a set velocity value, the processor is configured to displaywhether the joint velocity succeeds in reaching the set velocity valueon the screen.
 8. The apparatus of claim 6, wherein the processor isconfigured to obtain at least one of a sum of stop angles of the jointcalculated when the object is in the quasi-static state and a sum ofmoving angles of the joint calculated when the object is in the dynamicstate, and display a summation result on the screen.